CN114594697A - Internet of things type intelligent climbing frame controller - Google Patents
Internet of things type intelligent climbing frame controller Download PDFInfo
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- CN114594697A CN114594697A CN202210210522.9A CN202210210522A CN114594697A CN 114594697 A CN114594697 A CN 114594697A CN 202210210522 A CN202210210522 A CN 202210210522A CN 114594697 A CN114594697 A CN 114594697A
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- G05B19/00—Programme-control systems
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Abstract
The invention discloses an Internet of things type intelligent climbing frame controller, which belongs to the technical field of climbing frame supervision control and comprises an acquisition module, an Internet of things module and a server; the acquisition module is used for acquiring data of the field climbing frame; the Internet of things module is used for monitoring the climbing frame, and the specific method comprises the following steps: the method comprises the steps of establishing an Internet of things climbing frame model, uploading the Internet of things climbing frame model to a cloud end, dividing data collected by a collection module according to the Internet of things climbing frame model to form different collection items, establishing a corresponding relation between each collection item and each single model in the Internet of things climbing frame model, marking the associated single model as a target monitoring point, arranging a data display unit in the Internet of things climbing frame model, wherein the data display unit comprises a plurality of display nodes, the display nodes are arranged on the target monitoring point, establishing data transmission channels between the display nodes and the corresponding collection items, and transmitting the collection items to the corresponding display nodes through the established data transmission channels to display data.
Description
Technical Field
The invention belongs to the technical field of climbing frame supervision control, and particularly relates to an Internet of things type intelligent climbing frame controller.
Background
In the environment where safety production is more and more emphasized, mandatory safety measures are taken in various places. The potential safety hazards of the construction climbing frame mainly appear in the lifting and descending stages in a centralized manner, so that a climbing frame controller for controlling lifting and descending becomes the most important control node for the construction safety of the climbing frame. However, all the climbing frame controllers in the market at present are designed into field independent systems, operate in a closed mode and do not exchange data with the outside.
The existing climbing controller is difficult to supervise, and the lack of supervision causes a plurality of field illegal operations, rough operations and accidents; the field operation data is difficult to collect, process and process, and the field operation cannot be optimized by utilizing the existing big data and Internet of things technology; the operation enterprises for the climbing frame leasing operation are difficult to know the operation condition of the construction site, and the operation and service improvement can not be realized.
Disclosure of Invention
In order to solve the problems existing in the scheme, the invention provides an Internet of things type intelligent climbing frame controller.
The purpose of the invention can be realized by the following technical scheme:
the intelligent Internet-of-things climbing frame controller comprises an acquisition module, an Internet-of-things module and a server;
the acquisition module is used for acquiring data of the field climbing frame; the Internet of things module is used for monitoring the climbing frame, and the specific method comprises the following steps:
the method comprises the steps of establishing an Internet of things climbing frame model, uploading the Internet of things climbing frame model to a cloud end, dividing data collected by a collection module according to the Internet of things climbing frame model to form different collection items, establishing a corresponding relation between each collection item and each single model in the Internet of things climbing frame model, marking the associated single model as a target monitoring point, arranging a data display unit in the Internet of things climbing frame model, wherein the data display unit comprises a plurality of display nodes, the display nodes are arranged on the target monitoring point, establishing data transmission channels between the display nodes and the corresponding collection items, and transmitting the collection items to the corresponding display nodes through the established data transmission channels to display data.
Further, the method for establishing the Internet of things climbing frame model comprises the following steps:
acquiring a climbing frame assembly drawing, establishing a climbing frame building three-dimensional model according to the acquired climbing frame assembly drawing, acquiring monitoring equipment information for monitoring a current building in a construction site, marking the monitoring equipment for monitoring the current building as on-site monitoring equipment, establishing a monitoring data transmission channel of the on-site monitoring equipment, establishing a space coordinate system in the climbing frame building three-dimensional model, converting the on-site monitoring equipment into the climbing frame building three-dimensional model, marking a corresponding area in the climbing frame building three-dimensional model according to the monitoring range of the on-site monitoring equipment, and marking the monitoring range of the on-site monitoring equipment as an on-site monitoring range;
setting a necessary monitoring area for climbing frame work, identifying an unmonitored area according to a field monitoring range and the necessary monitoring area, acquiring information of monitoring equipment to be installed, laying the monitoring equipment to be installed according to the acquired information of the monitoring equipment to be installed, converting the monitoring equipment to be installed to a corresponding position in a climbing frame building three-dimensional model, and marking the current climbing frame building three-dimensional model as an internet of things climbing frame model.
Further, the method for laying the monitoring equipment to be installed according to the acquired information of the monitoring equipment to be installed comprises the following steps:
step SA 1: distributing a monitoring equipment model to be installed into the climbing frame building three-dimensional model by a bean-spreading simulation method, identifying an installation area for installing the monitoring equipment to be installed, screening out the monitoring equipment model to be installed in a non-installation area of the climbing frame building three-dimensional model, and marking the rest monitoring equipment model to be installed as a simulation model;
step SA 2: calculating the priority of each simulation model, marking the simulation model with the highest priority as a primary selection model, and marking the position corresponding to the primary selection model as a position to be selected;
step SA 3: deducting a monitoring range corresponding to the initially selected model from the unmonitored area;
step SA 4: step SA 2-step SA3 are repeated until all unmonitored areas are monitored;
step SA 5: drawing a primary selection monitoring distribution map according to the positions to be selected and the monitoring range of each primary selection model, establishing a distribution model, analyzing the primary selection monitoring distribution map through the distribution model to obtain a final monitoring distribution map, and laying the monitoring equipment to be installed according to the final monitoring distribution map.
Further, the method for calculating the priority of each simulation model in step SA2 includes:
marking the simulation model as i, wherein i is 1, 2, … … and n is a positive integer; acquiring a monitoring range Pi of each current simulation model on an unmonitored area; obtaining the distance from each simulation model to the corresponding monitoring range, setting a monitoring range influence coefficient Li according to the obtained distance, obtaining the overlapping area Ki of the monitoring range of each simulation model, obtaining the position of each simulation model, setting an installation correction value Hi according to the position of each simulation model, identifying the distance from the monitoring range of each simulation model to the nearest existing monitoring range, marking the distance as a monitoring gap, setting a gap correction value Di according to the monitoring gap, and removing dimensions of the monitoring range Pi, the monitoring range influence coefficient Li, the overlapping area Ki, the installation correction value Hi and the gap correction value Di to obtain the numerical value for calculation; and obtaining the priority of each simulation model according to a priority formula.
Furthermore, the priority formula is Qi ═ (b1 × Pi × Li-b2 × Ki) × Hi × Di × b3, where b1, b2, and b3 are all proportional coefficients, and the values are in the range of 0< b1 ≦ 1, 0< b2 ≦ 1, and 0< b3 ≦ 1.
Further, the method for setting the influence coefficient of the monitoring range according to the obtained distance comprises the following steps:
the method comprises the steps of obtaining the relation between monitoring definition and monitoring distance of monitoring equipment to be installed, setting influence coefficients corresponding to monitoring ranges according to the definition, establishing a monitoring distance matching table according to the monitoring definition, the monitoring distance and the monitoring range influence coefficients, and inputting the distance from a simulation model to the corresponding monitoring range into the monitoring distance matching table to obtain the corresponding monitoring range influence coefficients.
Furthermore, the system also comprises an approval module, wherein the approval module is used for field climbing frame workers to submit climbing frame operation applications and carry out corresponding supervision prompts.
Further, the working method of the approval module comprises the following steps:
setting a dynamic model, analyzing the Internet of things climbing frame model in real time through the dynamic model, judging whether the climbing frame is operated to move or not, and when the climbing frame is judged not to move, not operating; when the climbing frame is judged to be operated and moved, whether the moving part of the current climbing frame submits an operation application or not is identified, and when the operation application is submitted, a manager is prompted to carry out corresponding monitoring attention; and when the operation application is not submitted, generating violation operation information and sending the violation operation information to a manager.
Compared with the prior art, the invention has the beneficial effects that:
by arranging the Internet of things module, managers can remotely know the omnibearing running condition of the climbing frame in real time, the control, monitoring and operation management of the lifting and descending of the climbing frame can be remotely realized, and the current situation that the climbing frame operation can only be implemented by field workers and cannot be remotely managed is changed; the problems that an engineer or a supervisor with abundant experience is inconvenient to go to the site and the cost is high are solved, and the safety accidents caused by the fact that field operators have insufficient experience and cannot deal with complex conditions or do not consider safety rules for brute force operation are avoided.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic block diagram of the present invention.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, the internet of things type intelligent climbing frame controller comprises an acquisition module, an internet of things module, an approval module and a server;
the acquisition module is used for carrying out data acquisition to the on-the-spot frame that climbs, and is specific if the demand of supervisory equipment in the thing networking module sets up.
The Internet of things module is used for monitoring the climbing frame, and the specific method comprises the following steps:
the method comprises the steps of establishing an Internet of things climbing frame model, uploading the Internet of things climbing frame model to the cloud, and performing item division on data collected by a collection module according to the Internet of things climbing frame model to form different collection items, wherein if the item division is performed according to different monitoring equipment, the data collected by each monitoring equipment is a collection item; the method comprises the steps of establishing a corresponding relation between a collection item and each single model in an Internet of things climbing frame model, marking the associated single model as a target monitoring point, arranging a data display unit in the Internet of things climbing frame model, wherein the data display unit comprises a plurality of display nodes, the display nodes are arranged on the target monitoring point, establishing a data transmission channel between each display node and the corresponding collection item, and transmitting the collection item to the corresponding display node through the established data transmission channel for data display.
Through setting up thing networking module, realize that the long-range real-time understanding of managers climbs the omnidirectional operational aspect of frame, realize long-rangely to climbing control, control and the operation management that the frame promotes the decline, changed and climbed the frame operation and can only be implemented by site work personnel, unable remote management's current situation.
In the process of establishing the data transmission channels of the display nodes and the corresponding acquisition items, the transmission channels with different attributes can be established based on the 5G slicing technology according to the transmission requirements of different acquisition items, and different RB (resource block) resources are configured.
The method for establishing the Internet of things climbing frame model comprises the following steps:
the method comprises the steps of obtaining a climbing frame assembly drawing, namely a drawing after the climbing frame and a building are combined, establishing a climbing frame building three-dimensional model according to the obtained climbing frame assembly drawing, wherein the climbing frame building three-dimensional model comprises a climbing frame model and a building model, and the climbing frame model can move on the building model according to the design installation mode of the climbing frame; acquiring monitoring equipment information for monitoring a current building in a construction site, wherein the monitoring equipment information comprises information such as equipment model, position, monitoring range and the like, marking the monitoring equipment for monitoring the current building as on-site monitoring equipment, establishing a monitoring data transmission channel of the on-site monitoring equipment, acquiring permission for establishing the monitoring data transmission channel through consultation with management units such as a construction general contractor and the like, and further acquiring monitoring data of the on-site monitoring equipment in real time; establishing a space coordinate system in the three-dimensional model of the climbing frame building, converting the field monitoring equipment into the three-dimensional model of the climbing frame building, marking a corresponding area in the three-dimensional model of the climbing frame building according to the monitoring range of the field monitoring equipment, and marking the monitoring range of the field monitoring equipment as a field monitoring range;
setting a necessary monitoring area for climbing frame work, identifying an unmonitored area according to a field monitoring range and the necessary monitoring area, acquiring information of monitoring equipment to be installed, laying the monitoring equipment to be installed according to the acquired information of the monitoring equipment to be installed, realizing comprehensive monitoring of the necessary monitoring area, converting the monitoring equipment to be installed to a corresponding position in a climbing frame building three-dimensional model, and marking the current climbing frame building three-dimensional model as an internet of things climbing frame model.
The necessary monitoring area refers to an area which needs to be monitored in the work of climbing a frame, such as a monitoring area for monitoring the movement of the climbing frame on a building, monitoring an operation part in the climbing frame and the like; the setting of the specific necessary monitoring area is directly set by related personnel during the design and installation process of the climbing frame.
The method for laying the monitoring equipment to be installed according to the acquired information of the monitoring equipment to be installed comprises the following steps:
step SA 1: the method for simulating bean scattering distributes a monitoring equipment model to be installed into a climbing frame building three-dimensional model, identifies an installation area where the monitoring equipment to be installed can be installed, screens out the monitoring equipment model to be installed in a non-installation area in the climbing frame building three-dimensional model, and marks the rest monitoring equipment model to be installed as a simulation model;
step SA 2: calculating the priority of each simulation model, marking the simulation model with the highest priority as a primary selection model, and marking the position corresponding to the primary selection model as a position to be selected;
step SA 3: deducting a monitoring range corresponding to the initially selected model from the unmonitored area;
step SA 4: step SA 2-step SA3 are repeated until all unmonitored areas are monitored;
step SA 5: drawing a primary selection monitoring distribution map according to the positions to be selected and the monitoring range of each primary selection model, establishing a distribution model, analyzing the primary selection monitoring distribution map through the distribution model to obtain a final monitoring distribution map, and laying the monitoring equipment to be installed according to the final monitoring distribution map.
The method for simulating bean scattering is to scatter the model of the monitoring equipment to be installed into the three-dimensional model of the climbing frame building like bean scattering, and the specific operation is common knowledge in the field, so detailed description is not given.
The distribution model is established based on a CNN network or a DNN network, the training set is a primary selection monitoring distribution map and a final monitoring distribution map which is correspondingly arranged, the final monitoring distribution map is adjusted and arranged on the primary selection monitoring distribution map, the position of the primary selection model is adjusted, the installation of the monitoring equipment to be installed is reduced as much as possible, the monitoring cost is saved, the corresponding data processing amount is reduced, and the specific establishing and training process is common knowledge in the field, so that detailed description is not needed.
The method of calculating the priority of each simulation model in step SA2 includes:
marking the simulation model as i, wherein i is 1, 2, … … and n is a positive integer; acquiring the monitoring range of each current simulation model on an unmonitored area, and marking the acquired monitoring range as Pi; obtaining the distance from each simulation model to the corresponding monitoring range, setting a monitoring range influence coefficient according to the obtained distance, marking the monitoring range influence coefficient as Li, obtaining the overlapping area of the monitoring range of each simulation model, wherein the overlapping area refers to the overlapping area of the monitoring range of the simulation model and the existing monitoring area, calculating the overlapping area of the monitoring ranges of a plurality of simulation models with the same batch of priority values, marking the obtained overlapping area as Ki, obtaining the position of the simulation model, setting an installation correction value according to the position of the simulation model, marking the installation correction value as Hi, identifying the distance from the monitoring range of each simulation model to the nearest existing monitoring range, marking the monitoring gap as a monitoring gap, setting a gap correction value according to the monitoring gap, marking the gap correction value as Di, marking the monitoring range Pi, the monitoring range influence coefficient Li, and the overlapping area of the obtained in the overlapping area of the obtained overlapping area of the monitoring range of the obtained overlapping area of the monitoring range of the monitoring model of the monitoring range of the simulation model of the monitoring range of the simulation model of the monitoring range, Removing dimensions of the coincidence area Ki, the installation correction value Hi and the clearance correction value Di and taking the numerical values for calculation; the priority of each simulation model is obtained according to the formula Qi ═ b1 × Pi × Li-b2 × Ki) × Hi × Di × b3, wherein b1, b2 and b3 are all proportional coefficients, and the value ranges from 0< b1 ≦ 1, from 0< b2 ≦ 1 and from 0< b3 ≦ 1.
The method for setting the influence coefficient of the monitoring range according to the acquired distance comprises the following steps: the method comprises the steps of obtaining the relation between monitoring definition and monitoring distance of monitoring equipment to be installed, setting the influence coefficient corresponding to a monitoring range according to the definition, setting the influence coefficient in an artificial mode or setting the influence coefficient in a mode of establishing a neural network model, establishing a monitoring distance matching table according to the monitoring definition, the monitoring distance and the monitoring range influence coefficient, inputting the distance from a simulation model to the corresponding monitoring range into the monitoring distance matching table, and obtaining the corresponding monitoring range influence coefficient.
The method for setting the installation correction value according to the position of the simulation model comprises the following steps:
dividing installation areas by information such as difficulty, later damage degree and the like of installing the monitoring device by an expert group root, and setting an installation correction value for each divided installation area, wherein the later damage degree refers to the probability of damage caused by factors such as construction and the like in the following process after the monitoring device is installed at the position, and the probability is matched with the corresponding installation correction value according to the position of the simulation model; and the corresponding installation correction value can be automatically set in a mode of establishing a neural network model.
The method for setting the gap correction value according to the monitoring gap comprises the steps that a corresponding gap correction value matching table is set by an expert group, and the monitoring gap is input into the gap correction value matching table and matched with the corresponding gap correction value.
The approval module is used for field climbing staff to submit climbing operation applications and carry out corresponding supervision prompts, and the specific method comprises the following steps:
the method comprises the steps that a dynamic model is set, the dynamic model is used for analyzing whether a climbing frame is operated and moved according to an Internet of things climbing frame model, the dynamic model is set based on a CNN network or a DNN network, and the specific establishing and training process is common knowledge in the field, so detailed description is omitted; the method comprises the steps that a climbing frame model of the Internet of things is analyzed in real time through a dynamic model, whether the climbing frame is operated to move or not is judged, and when the climbing frame is judged not to move, operation is not carried out; when the climbing frame is judged to be operated and moved, whether the moving part of the current climbing frame submits an operation application or not is identified, and when the operation application is submitted, a manager is prompted to carry out corresponding monitoring attention; the method is used for prompting a manager to pay key attention to the operation of field workers through the Internet of things climbing model; and when the operation application is not submitted, generating violation operation information, sending the violation operation information to a manager, and processing the violation operation information by the manager.
The above formulas are all calculated by removing dimensions and taking numerical values thereof, the formula is a formula which is obtained by acquiring a large amount of data and performing software simulation to obtain the closest real situation, and the preset parameters and the preset threshold value in the formula are set by the technical personnel in the field according to the actual situation or obtained by simulating a large amount of data.
Although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted for elements thereof without departing from the spirit and scope of the present invention.
Claims (8)
1. The intelligent Internet-of-things climbing frame controller is characterized by comprising an acquisition module, an Internet-of-things module and a server;
the acquisition module is used for acquiring data of the field climbing frame; the Internet of things module is used for monitoring the climbing frame, and the specific method comprises the following steps:
the method comprises the steps of establishing an Internet of things climbing model, uploading the Internet of things climbing model to a cloud end, dividing data collected by a collection module according to the Internet of things climbing model to form different collection items, establishing corresponding relations between the collection items and each single model in the Internet of things climbing model, marking the associated single model as a target monitoring point, setting a data display unit in the Internet of things climbing model, wherein the data display unit comprises a plurality of display nodes, the display nodes are arranged on the target monitoring point, establishing data transmission channels between the display nodes and the corresponding collection items, and transmitting the collection items to the corresponding display nodes through the established data transmission channels to display data.
2. The internet of things type intelligent climbing frame controller according to claim 1, wherein the method for establishing the internet of things climbing frame model comprises the following steps:
acquiring a climbing frame assembly drawing, establishing a climbing frame building three-dimensional model according to the acquired climbing frame assembly drawing, acquiring monitoring equipment information for monitoring a current building in a construction site, marking the monitoring equipment for monitoring the current building as on-site monitoring equipment, establishing a monitoring data transmission channel of the on-site monitoring equipment, establishing a space coordinate system in the climbing frame building three-dimensional model, converting the on-site monitoring equipment into the climbing frame building three-dimensional model, marking a corresponding area in the climbing frame building three-dimensional model according to the monitoring range of the on-site monitoring equipment, and marking the monitoring range of the on-site monitoring equipment as an on-site monitoring range;
setting a necessary monitoring area for climbing frame work, identifying an unmonitored area according to a field monitoring range and the necessary monitoring area, acquiring information of monitoring equipment to be installed, laying the monitoring equipment to be installed according to the acquired information of the monitoring equipment to be installed, converting the monitoring equipment to be installed to a corresponding position in a climbing frame building three-dimensional model, and marking the current climbing frame building three-dimensional model as an internet of things climbing frame model.
3. The internet of things type intelligent climbing frame controller according to claim 2, wherein the method for arranging the to-be-installed monitoring equipment according to the acquired information of the to-be-installed monitoring equipment comprises the following steps:
step SA 1: distributing a monitoring equipment model to be installed into the climbing frame building three-dimensional model by a bean-spreading simulation method, identifying an installation area for installing the monitoring equipment to be installed, screening out the monitoring equipment model to be installed in a non-installation area of the climbing frame building three-dimensional model, and marking the rest monitoring equipment model to be installed as a simulation model;
step SA 2: calculating the priority of each simulation model, marking the simulation model with the highest priority as a primary selection model, and marking the position corresponding to the primary selection model as a position to be selected;
step SA 3: deducting a monitoring range corresponding to the initially selected model from the unmonitored area;
step SA 4: step SA 2-step SA3 are repeated until all unmonitored areas are monitored;
step SA 5: drawing a primary selection monitoring distribution map according to the positions to be selected and the monitoring range of each primary selection model, establishing a distribution model, analyzing the primary selection monitoring distribution map through the distribution model to obtain a final monitoring distribution map, and laying the monitoring equipment to be installed according to the final monitoring distribution map.
4. The internet of things type intelligent climbing rack controller according to claim 3, wherein the method for calculating the priority of each simulation model in step SA2 comprises the following steps:
marking the simulation model as i, wherein i is 1, 2, … … and n is a positive integer; acquiring a monitoring range Pi of each current simulation model on an unmonitored area; obtaining the distance from each simulation model to the corresponding monitoring range, setting a monitoring range influence coefficient Li according to the obtained distance, obtaining the overlapping area Ki of the monitoring range of each simulation model, obtaining the position of each simulation model, setting an installation correction value Hi according to the position of each simulation model, identifying the distance from the monitoring range of each simulation model to the nearest existing monitoring range, marking the distance as a monitoring gap, setting a gap correction value Di according to the monitoring gap, and removing dimensions of the monitoring range Pi, the monitoring range influence coefficient Li, the overlapping area Ki, the installation correction value Hi and the gap correction value Di to obtain the numerical value for calculation; and obtaining the priority of each simulation model according to a priority formula.
5. The Internet of things type intelligent shelf climbing controller according to claim 4, wherein the priority formula is Qi-x (b1 x Pi x Li-b2 x Ki) x Hi x Di x b3, wherein b1, b2 and b3 are all proportionality coefficients, and the values range from 0< b1 ≦ 1, 0< b2 ≦ 1, and 0< b3 ≦ 1.
6. The internet of things type intelligent shelf climbing controller according to claim 4, wherein the method for setting the monitoring range influence coefficient according to the acquired distance comprises the following steps:
the method comprises the steps of obtaining the relation between monitoring definition and monitoring distance of monitoring equipment to be installed, setting influence coefficients corresponding to monitoring ranges according to the definition, establishing a monitoring distance matching table according to the monitoring definition, the monitoring distance and the monitoring range influence coefficients, and inputting the distance from a simulation model to the corresponding monitoring range into the monitoring distance matching table to obtain the corresponding monitoring range influence coefficients.
7. The Internet of things type intelligent climbing frame controller according to claim 1, further comprising an approval module, wherein the approval module is used for field climbing frame workers to submit operation applications of climbing frames and perform corresponding supervision prompts.
8. The internet of things type intelligent climbing frame controller according to claim 7, wherein the working method of the approval module comprises the following steps:
setting a dynamic model, analyzing the Internet of things climbing frame model in real time through the dynamic model, judging whether the climbing frame is operated to move or not, and when the climbing frame is judged not to move, not operating; when the climbing frame is judged to be operated and moved, whether the moving part of the current climbing frame submits an operation application or not is identified, and when the operation application is submitted, a manager is prompted to carry out corresponding monitoring attention; and when the operation application is not submitted, generating violation operation information and sending the violation operation information to a manager.
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| CN116149225A (en) * | 2023-02-07 | 2023-05-23 | 蚌埠高灵传感系统工程有限公司 | Climbing frame lifting control system based on LoRA distributed sensor |
| CN116149225B (en) * | 2023-02-07 | 2024-03-19 | 蚌埠高灵传感系统工程有限公司 | Climbing frame lifting control system based on LoRA distributed sensor |
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